Acquiring moving skills in robots with evolvable morphologies: Recent results and outlook

© 2017 ACM. We construct and investigate a strongly embodied evolutionary system, where not only the controllers but also the morphologies undergo evolution in an on-line fashion. In these studies, we have been using various types of robot morphologies and controller architectures in combination with several learning algorithms, e.g. evolutionary algorithms, reinforcement learning, simulated annealing, and HyperNEAT. This hands-on experience provides insights and helps us elaborate on interesting research directions for future development

Differential Evolution with Reversible Linear Transformations

Differential evolution (DE) is a well-known type of evolutionary algorithms (EA). Similarly to other EA variants it can suffer from small populations and loose diversity too quickly. This paper presents a new approach to mitigate this issue: We propose to generate new candidate solutions by utilizing reversible linear transformations applied to a triplet of solutions from the population. In other words, the population is enlarged by using newly generated individuals without evaluating their fitness. We assess our methods on three problems: (i) benchmark function optimization, (ii) discovering parameter values of the gene repressilator system, (iii) learning neural networks. The empirical results indicate that the proposed approach outperforms vanilla DE and a version of DE with applying differential mutation three times on all testbeds

Embodied Evolution in Collective Robotics: A Review

This paper provides an overview of evolutionary robotics techniques applied to on-line distributed evolution for robot collectives -- namely, embodied evolution. It provides a definition of embodied evolution as well as a thorough description of the underlying concepts and mechanisms. The paper also presents a comprehensive summary of research published in the field since its inception (1999-2017), providing various perspectives to identify the major trends. In particular, we identify a shift from considering embodied evolution as a parallel search method within small robot collectives (fewer than 10 robots) to embodied evolution as an on-line distributed learning method for designing collective behaviours in swarm-like collectives. The paper concludes with a discussion of applications and open questions, providing a milestone for past and an inspiration for future research.Comment: 23 pages, 1 figure, 1 tabl

An Investigation of Environmental Influence on the Benefits of Adaptation Mechanisms in Evolutionary Swarm Robotics

A robotic swarm that is required to operate for long periods in a potentially unknown environment can use both evolution and individual learning methods in order to adapt. However, the role played by the environment in influencing the effectiveness of each type of learning is not well understood. In this paper, we address this question by analysing the performance of a swarm in a range of simulated, dynamic environments where a distributed evolutionary algorithm for evolving a controller is augmented with a number of different individual learning mechanisms. The learning mechanisms themselves are defined by parameters which can be either fixed or inherited. We conduct experiments in a range of dynamic environments whose characteristics are varied so as to present different opportunities for learning. Results enable us to map environmental characteristics to the most effective learning algorithm.Comment: In GECCO 201

A Discrete Particle Swarm Optimizer for the Design of Cryptographic Boolean Functions

A Particle Swarm Optimizer for the search of balanced Boolean functions with good cryptographic properties is proposed in this paper. The algorithm is a modified version of the permutation PSO by Hu, Eberhart and Shi which preserves the Hamming weight of the particles positions, coupled with the Hill Climbing method devised by Millan, Clark and Dawson to improve the nonlinearity and deviation from correlation immunity of Boolean functions. The parameters for the PSO velocity equation are tuned by means of two meta-optimization techniques, namely Local Unimodal Sampling (LUS) and Continuous Genetic Algorithms (CGA), finding that CGA produces better results. Using the CGA-evolved parameters, the PSO algorithm is then run on the spaces of Boolean functions from $n=7$ to $n=12$ variables. The results of the experiments are reported, observing that this new PSO algorithm generates Boolean functions featuring similar or better combinations of nonlinearity, correlation immunity and propagation criterion with respect to the ones obtained by other optimization methods

General Program Synthesis from Examples Using Genetic Programming with Parent Selection Based on Random Lexicographic Orderings of Test Cases

Software developers routinely create tests before writing code, to ensure that their programs fulfill their requirements. Instead of having human programmers write the code to meet these tests, automatic program synthesis systems can create programs to meet specifications without human intervention, only requiring examples of desired behavior. In the long-term, we envision using genetic programming to synthesize large pieces of software. This dissertation takes steps toward this goal by investigating the ability of genetic programming to solve introductory computer science programming problems. We present a suite of 29 benchmark problems intended to test general program synthesis systems, which we systematically selected from sources of introductory computer science programming problems. This suite is suitable for experiments with any program synthesis system driven by input/output examples. Unlike existing benchmarks that concentrate on constrained problem domains such as list manipulation, symbolic regression, or boolean functions, this suite contains general programming problems that require a range of programming constructs, such as multiple data types and data structures, control flow statements, and I/O. The problems encompass a range of difficulties and requirements as necessary to thoroughly assess the capabilities of a program synthesis system. Besides describing the specifications for each problem, we make recommendations for experimental protocols and statistical methods to use with the problems. This dissertation\u27s second contribution is an investigation of behavior-based parent selection in genetic programming, concentrating on a new method called lexicase selection. Most parent selection techniques aggregate errors from test cases to compute a single scalar fitness value; lexicase selection instead treats test cases separately, never comparing error values of different test cases. This property allows it to select parents that specialize on some test cases even if they perform poorly on others. We compare lexicase selection to other parent selection techniques on our benchmark suite, showing better performance for lexicase selection. After observing that lexicase selection increases exploration of the search space while also increasing exploitation of promising programs, we conduct a range of experiments to identify which characteristics of lexicase selection influence its utility